| The project is aimed at the status quo of the backward technics of wet shotcrete in China coal mines. The project is an important sub-project of " Study of the Wet Shotcrete Lines in the Tunnel ", which is funded by the Liangzhuang Mine of Xinwen Mining Group. Under the premise of comprehending the development of the domestic and foreign shotcrete manipulator, this project put forward a new design of wet shotrete mechanical arm wich can be used in coal mine. That is the mechanical arm based on monorail crane.Based on the precise 3D modeling of the new-type mechanical arm, the spot working conditions are deeply analyzed. And the load-sensing electro-hydraulic proportional control system is worked out as the hydraulic system of the new-type mechanical arm. The coordinate position of the components, as well as the mass and their gravity center, are calculated accurately by the Solidworks software. According to the above data, the highest load which the actuators are bearing is estimated. The flow rate is calculated by the expected velocity of the components or the whole arm. Then the hydraulic component types are easily chosen from catalogs in terms of the press and flow rate. The AMESim models of hydraulic components are established. The mechanical system is built by the relevant models in Mechanical Library and the Function model in Signal Library. The sequence and size of the input signals are set up in the gross in accordance with the practical requirement. Then the Machine-electricity-fluid control system of mechanical arm is modeled and simulated by AMESim. The simulation results are satisfying. And the design of the arm based on monorail crane is proved to be accurate theoretically. The physical mechanical arm's successful operating in tunnel proves that the scheme of the new-type mechanical arm is feasible. and the hydraulic system studied in this project can be applied into the designing and manufacturing process of the new-type mechanical arm. |
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